quadruped robot simulation implemented on matlab with a control method

I am looking for an experienced developer to help me build a robust quadruped robot simulation implemented on MATLAB with a model predictive control (MPC). This simulation will not need to include specific terrains or obstacles, just a general simulation. The desired outcomes of the simulation should only include basic information related to the movement and control of the robot. Knowledge in robotic motion planning and control is must and the successful bidder must be comfortable working with MATLAB. The end goal of this project is to create a reliable, efficient, and safe quadruped robot simulation.